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Estimation of Mobile Robot Localization: Geometric Approaches

  • D. Meizel
  • A. Preciado-Ruiz
  • E. Halbwachs

Abstract

The real device is shown in Fig. 27.1. It is a cart-like wheeled vehicle sketched on Fig. 27.2. It is capable to perform planar displacements and its configuration q (Eq. 27.1) is composed of the 2-D coordinates (x c y c ) of a characteristic point together with the orientation θ defined in a world coordinate W (Fig. 27.2).

Keywords

Extend Kalman Filter Obstacle Avoidance Dead Reckoning Feasible Domain Localization Uncertainty 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media New York 1996

Authors and Affiliations

  • D. Meizel
    • 1
  • A. Preciado-Ruiz
    • 2
  • E. Halbwachs
    • 1
  1. 1.Heudiasyc, CNRSCompiegne Technology UniversityCompiegneFrance
  2. 2.ITESM—Campus TolucaToluca, Edo. de MexicoMexico

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